
#ifndef __SENSOR_UPDATE_H__
#define __SENSOR_UPDATE_H__

#include "ucos_ii.h"
#include "stm32f10x_lib.h"
#include "typedefs.h"

#define SENSOR_UPDATE_TIME 10  //ms

extern OS_EVENT *SensorUpdateBox;		   
extern Vectors16 AcceRaw, MagnRaw, GyroRaw;
extern Vectors32 AcceData, MagnData, GyroData;
extern Vectorf Acce, Magn, Gyro;

u8 UpdateGyro(void);
void MagnCalibration(void);
void AcceCalibration(void);
void GyroCalibrate(void);

#endif

